METHOD FOR SELECTING LOCATIONS OF TENSORESISTORS OF FORCE-TORQUE SENSOR OF EXTREMITY EXOPROSTHESIS Russian patent published in 2024 - IPC A61F2/68 

FIELD: medicine.

SUBSTANCE: invention relates to medical equipment, namely, to means of controlling mechatronic devices, such as extremity exoprostheses. Method for locating tensoresistors of a force-torque sensor of an extremity exoprosthesis, in which values of forces acting on the exoprosthesis are selected, moments of forces are determined, and their correlation matrices are plotted. Allowable error of measuring the restored loads is selected, the calculated values of which are determined by the exoprosthesis control system. Allowable dimensions of the force-torque sensor are selected. Allowable stresses and test loads to withstand the exoprosthesis are selected. Then, based on the obtained data, the geometry of the load-carrying elements of the force-moment sensor is constructed, response matrices are constructed for all possible combinations of the location of the strain gages taking into account the scaling of test loads to the requirements of the allowable measurement error of the restored loads, and the number and arrangement of the tensoresistors for the obtained geometry of the force-moment sensor are determined. Then, strain gages are used to measure elastic deformations of the sensor material and to determine the loading basis in a Cartesian coordinate system associated with the sensor. Loading basis consists of three forces Fx, Fy, Fz in direction of axes of coordinates and three moments of forces Mx, My, Mz around axes of coordinates.

EFFECT: more accurate restoration of forces and moments acting on the prosthesis, with the implementation of the loading model as close as possible to the patterns of human movement and meeting the requirements for cyclic and static strength.

1 cl, 3 dwg